C++ PlanningSceneConstPtr::getCurrentState方法代码示例

double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints& constr,
                                                  const planning_scene::PlanningSceneConstPtr& scene,
                                                  const std::string& group)
{
  return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr),
                               scene->getCurrentState());
}

ompl_interface::ConstraintApproximationConstructionResults
ompl_interface::ConstraintsLibrary::addConstraintApproximation(const moveit_msgs::Constraints &constr_sampling, const moveit_msgs::Constraints &constr_hard,
                                                               const std::string &group, const std::string &state_space_parameterization,
                                                               const planning_scene::PlanningSceneConstPtr &scene, unsigned int samples, unsigned int edges_per_sample)
{ 
  ConstraintApproximationConstructionResults res;
  ModelBasedPlanningContextPtr pc = context_manager_.getPlanningContext(group, state_space_parameterization);
  if (pc)
  {                                             
    pc->clear();
    pc->setPlanningScene(scene);
    pc->setCompleteInitialState(scene->getCurrentState());

    std::map<std::string, ConstraintApproximationFactoryPtr>::const_iterator it = constraint_factories_.find(constr_hard.name);
    ConstraintApproximationFactory *fct = NULL;
    ConstraintStateStorageOrderFn order;
    if (it != constraint_factories_.end())
    {
      fct = it->second.get();
      order = fct->getOrderFunction();
    }
    
    ros::WallTime start = ros::WallTime::now();
    ompl::base::StateStoragePtr ss = constructConstraintApproximation(pc, constr_sampling, constr_hard, order, samples, edges_per_sample, res);
    logInform("Spent %lf seconds constructing the database", (ros::WallTime::now() - start).toSec());
    if (ss)
    {
      ConstraintApproximationPtr ca;
      if (fct)
        ca = fct->allocApproximation(context_manager_.getRobotModel(), group, state_space_parameterization, constr_hard, group + "_" + 
                                     boost::posix_time::to_iso_extended_string(boost::posix_time::microsec_clock::universal_time()) + ".ompldb", ss);
      else
        ca.reset(new ConstraintApproximation(context_manager_.getRobotModel(), group, state_space_parameterization, constr_hard, group + "_" + 
                                             boost::posix_time::to_iso_extended_string(boost::posix_time::microsec_clock::universal_time()) + ".ompldb", ss));
      if (ca)
      {
        if (constraint_approximations_.find(ca->getName()) != constraint_approximations_.end())
          logWarn("Overwriting constraint approximation named '%s'", ca->getName().c_str());
        constraint_approximations_[ca->getName()] = ca;
        res.approx = ca;
      }
    }
    else
      logError("Unable to construct constraint approximation for group '%s'", group.c_str());
  }
  return res;
}

void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningSceneConstPtr &scene,
                                              const rviz::Color &default_env_color,
                                              const rviz::Color &default_attached_color,
                                              OctreeVoxelRenderMode octree_voxel_rendering,
                                              OctreeVoxelColorMode octree_color_mode,
                                              float default_scene_alpha)
{
  if (!scene)
    return;

  clear();
  
  if (scene_robot_)
  {
    robot_state::RobotState *rs = new robot_state::RobotState(scene->getCurrentState());
    rs->update();
    
    std_msgs::ColorRGBA color;
    color.r = default_attached_color.r_;
    color.g = default_attached_color.g_;
    color.b = default_attached_color.b_;
    color.a = 1.0f;
    planning_scene::ObjectColorMap color_map;
    scene->getKnownObjectColors(color_map);
    scene_robot_->update(robot_state::RobotStateConstPtr(rs), color, color_map);
  }

  const std::vector<std::string> &ids = scene->getWorld()->getObjectIds();
  for (std::size_t i = 0 ; i < ids.size() ; ++i)
  {
    if (show_object_.find(ids[i]) != show_object_.end() && !show_object_[ids[i]])
      continue;

    collision_detection::CollisionWorld::ObjectConstPtr o = scene->getWorld()->getObject(ids[i]);
    rviz::Color color = default_env_color;
    float alpha = default_scene_alpha;
    if (scene->hasObjectColor(ids[i]))
    {
      const std_msgs::ColorRGBA &c = scene->getObjectColor(ids[i]);
      color.r_ = c.r; color.g_ = c.g; color.b_ = c.b;
      alpha = c.a;
    }
    for (std::size_t j = 0 ; j < o->shapes_.size() ; ++j)
      render_shapes_->renderShape(planning_scene_geometry_node_, o->shapes_[j].get(), o->shape_poses_[j],
                                  octree_voxel_rendering, octree_color_mode, color, alpha);
  }
}

  void displayPlannerData(const planning_scene::PlanningSceneConstPtr& planning_scene,
                          const std::string &link_name) const
  {
std::cout << "displayPlannerData called ... " << std::endl;
    const ompl_interface::ModelBasedPlanningContextPtr &pc = ompl_interface_->getLastPlanningContext();
    if (pc)
    {
      ompl::base::PlannerData pd(pc->getOMPLSimpleSetup().getSpaceInformation());
      pc->getOMPLSimpleSetup().getPlannerData(pd);
      robot_state::RobotState kstate = planning_scene->getCurrentState();  
      visualization_msgs::MarkerArray arr; 
      std_msgs::ColorRGBA color;
      color.r = 1.0f;
      color.g = 0.25f;
      color.b = 1.0f;
      color.a = 1.0f;
      unsigned int nv = pd.numVertices();
      for (unsigned int i = 0 ; i < nv ; ++i)
      {
        pc->getOMPLStateSpace()->copyToRobotState(kstate, pd.getVertex(i).getState());
        kstate.getJointStateGroup(pc->getJointModelGroupName())->updateLinkTransforms();
        const Eigen::Vector3d &pos = kstate.getLinkState(link_name)->getGlobalLinkTransform().translation();
	
        visualization_msgs::Marker mk;
        mk.header.stamp = ros::Time::now();
        mk.header.frame_id = planning_scene->getPlanningFrame();
        mk.ns = "planner_data";
        mk.id = i;
        mk.type = visualization_msgs::Marker::SPHERE;
        mk.action = visualization_msgs::Marker::ADD;
        mk.pose.position.x = pos.x();
        mk.pose.position.y = pos.y();
        mk.pose.position.z = pos.z();
        mk.pose.orientation.w = 1.0;
        mk.scale.x = mk.scale.y = mk.scale.z = 0.025;
        mk.color = color;
        mk.lifetime = ros::Duration(30.0);
        arr.markers.push_back(mk);
      }
      pub_markers_.publish(arr); 
    }
  }

ompl_interface::ConstraintApproximationConstructionResults
ompl_interface::ConstraintsLibrary::addConstraintApproximation(
    const moveit_msgs::Constraints& constr_sampling, const moveit_msgs::Constraints& constr_hard,
    const std::string& group, const planning_scene::PlanningSceneConstPtr& scene,
    const ConstraintApproximationConstructionOptions& options)
{
  ConstraintApproximationConstructionResults res;
  ModelBasedPlanningContextPtr pc = context_manager_.getPlanningContext(group, options.state_space_parameterization);
  if (pc)
  {
    pc->clear();
    pc->setPlanningScene(scene);
    pc->setCompleteInitialState(scene->getCurrentState());

    ros::WallTime start = ros::WallTime::now();
    ompl::base::StateStoragePtr ss = constructConstraintApproximation(pc, constr_sampling, constr_hard, options, res);
    ROS_INFO_NAMED("constraints_library", "Spent %lf seconds constructing the database",
                   (ros::WallTime::now() - start).toSec());
    if (ss)
    {
      ConstraintApproximationPtr ca(new ConstraintApproximation(
          group, options.state_space_parameterization, options.explicit_motions, constr_hard,
          group + "_" + boost::posix_time::to_iso_extended_string(boost::posix_time::microsec_clock::universal_time()) +
              ".ompldb",
          ss, res.milestones));
      if (constraint_approximations_.find(ca->getName()) != constraint_approximations_.end())
        ROS_WARN_NAMED("constraints_library", "Overwriting constraint approximation named '%s'", ca->getName().c_str());
      constraint_approximations_[ca->getName()] = ca;
      res.approx = ca;
    }
    else
      ROS_ERROR_NAMED("constraints_library", "Unable to construct constraint approximation for group '%s'",
                      group.c_str());
  }
  return res;
}

bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                         const moveit_msgs::GetMotionPlan::Request &req, 
                         const chomp::ChompParameters& params,
                         moveit_msgs::GetMotionPlan::Response &res) const
{
  ros::WallTime start_time = ros::WallTime::now();
  ChompTrajectory trajectory(planning_scene->getRobotModel(),
                             3.0,
                             .03,
                             req.motion_plan_request.group_name);
  jointStateToArray(planning_scene->getRobotModel(),
                    req.motion_plan_request.start_state.joint_state, 
                    req.motion_plan_request.group_name,
                    trajectory.getTrajectoryPoint(0));

  int goal_index = trajectory.getNumPoints()- 1;
  trajectory.getTrajectoryPoint(goal_index) = trajectory.getTrajectoryPoint(0);
  sensor_msgs::JointState js;
  for(unsigned int i = 0; i < req.motion_plan_request.goal_constraints[0].joint_constraints.size(); i++) {
    js.name.push_back(req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name);
    js.position.push_back(req.motion_plan_request.goal_constraints[0].joint_constraints[i].position);
    ROS_INFO_STREAM("Setting joint " << req.motion_plan_request.goal_constraints[0].joint_constraints[i].joint_name
                    << " to position " << req.motion_plan_request.goal_constraints[0].joint_constraints[i].position);
  }
  jointStateToArray(planning_scene->getRobotModel(),
                    js, 
                    req.motion_plan_request.group_name, 
                    trajectory.getTrajectoryPoint(goal_index));
  const planning_models::RobotModel::JointModelGroup* model_group = 
    planning_scene->getRobotModel()->getJointModelGroup(req.motion_plan_request.group_name);
  // fix the goal to move the shortest angular distance for wrap-around joints:
  for (size_t i = 0; i < model_group->getJointModels().size(); i++)
  {
    const planning_models::RobotModel::JointModel* model = model_group->getJointModels()[i];
    const planning_models::RobotModel::RevoluteJointModel* revolute_joint = dynamic_cast<const planning_models::RobotModel::RevoluteJointModel*>(model);

    if (revolute_joint != NULL)
    {
      if(revolute_joint->isContinuous())
      {
        double start = (trajectory)(0, i);
        double end = (trajectory)(goal_index, i);
        ROS_INFO_STREAM("Start is " << start << " end " << end << " short " << shortestAngularDistance(start, end));
        (trajectory)(goal_index, i) = start + shortestAngularDistance(start, end);
      }
    }
  }
  
  // fill in an initial quintic spline trajectory
  trajectory.fillInMinJerk();

  // optimize!
  planning_models::RobotState *start_state(planning_scene->getCurrentState());
  planning_models::robotStateMsgToRobotState(*planning_scene->getTransforms(), req.motion_plan_request.start_state, start_state);
    
  ros::WallTime create_time = ros::WallTime::now();
  ChompOptimizer optimizer(&trajectory, 
                           planning_scene, 
                           req.motion_plan_request.group_name,
                           &params,
                           start_state);
  if(!optimizer.isInitialized()) {
    ROS_WARN_STREAM("Could not initialize optimizer");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
    return false;
  }
  ROS_INFO("Optimization took %f sec to create", (ros::WallTime::now() - create_time).toSec());
  ROS_INFO("Optimization took %f sec to create", (ros::WallTime::now() - create_time).toSec());
  optimizer.optimize();
  ROS_INFO("Optimization actually took %f sec to run", (ros::WallTime::now() - create_time).toSec());
  create_time = ros::WallTime::now();
  // assume that the trajectory is now optimized, fill in the output structure:

  ROS_INFO("Output trajectory has %d joints", trajectory.getNumJoints());

  // fill in joint names:
  res.trajectory.joint_trajectory.joint_names.resize(trajectory.getNumJoints());
  for (size_t i = 0; i < model_group->getJointModels().size(); i++)
  {
    res.trajectory.joint_trajectory.joint_names[i] = model_group->getJointModels()[i]->getName();
  }

  res.trajectory.joint_trajectory.header = req.motion_plan_request.start_state.joint_state.header; // @TODO this is probably a hack

  // fill in the entire trajectory
  res.trajectory.joint_trajectory.points.resize(trajectory.getNumPoints());
  for (int i=0; i < trajectory.getNumPoints(); i++)
  {
    res.trajectory.joint_trajectory.points[i].positions.resize(trajectory.getNumJoints());
    for (size_t j=0; j < res.trajectory.joint_trajectory.points[i].positions.size(); j++)
    {
      res.trajectory.joint_trajectory.points[i].positions[j] = trajectory.getTrajectoryPoint(i)(j);
      if(i == trajectory.getNumPoints()-1) {
        ROS_INFO_STREAM("Joint " << j << " " << res.trajectory.joint_trajectory.points[i].positions[j]);
      }
    }
    // Setting invalid timestamps.
    // Further filtering is required to set valid timestamps accounting for velocity and acceleration constraints.
    res.trajectory.joint_trajectory.points[i].time_from_start = ros::Duration(0.0);
  }
//.........这里部分代码省略.........

bool PlacePlan::plan(const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::PlaceGoal &goal)
{
  double timeout = goal.allowed_planning_time;
  ros::WallTime endtime = ros::WallTime::now() + ros::WallDuration(timeout);
  std::string attached_object_name = goal.attached_object_name;
  const robot_model::JointModelGroup *jmg = NULL;
  const robot_model::JointModelGroup *eef = NULL;

  // if the group specified is actually an end-effector, we use it as such
  if (planning_scene->getRobotModel()->hasEndEffector(goal.group_name))
  {
    eef = planning_scene->getRobotModel()->getEndEffector(goal.group_name);
    if (eef)
    { // if we correctly found the eef, then we try to find out what the planning group is
      const std::string &eef_parent = eef->getEndEffectorParentGroup().first;
      if (eef_parent.empty())
      {
        ROS_ERROR_STREAM_NAMED("manipulation", "No parent group to plan in was identified based on end-effector '" << goal.group_name << "'. Please define a parent group in the SRDF.");
        error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
        return false;
      }
      else
        jmg = planning_scene->getRobotModel()->getJointModelGroup(eef_parent);
    }
  }
  else
  {
    // if a group name was specified, try to use it
    jmg = goal.group_name.empty() ? NULL : planning_scene->getRobotModel()->getJointModelGroup(goal.group_name);
    if (jmg)
    {
      // we also try to find the corresponding eef
      const std::vector<std::string> &eef_names = jmg->getAttachedEndEffectorNames();  
      if (eef_names.empty())
      {
        ROS_ERROR_STREAM_NAMED("manipulation", "There are no end-effectors specified for group '" << goal.group_name << "'");
        error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
        return false;
      }
      else
        // check to see if there is an end effector that has attached objects associaded, so we can complete the place
        for (std::size_t i = 0 ; i < eef_names.size() ; ++i) 
        {
          std::vector<const robot_state::AttachedBody*> attached_bodies;
          const robot_model::JointModelGroup *eg = planning_scene->getRobotModel()->getEndEffector(eef_names[i]);
          if (eg)
          {
            // see if there are objects attached to links in the eef
            planning_scene->getCurrentState().getAttachedBodies(attached_bodies, eg);
            
            // is is often possible that the objects are attached to the same link that the eef itself is attached,
            // so we check for attached bodies there as well
            const robot_model::LinkModel *attached_link_model = planning_scene->getRobotModel()->getLinkModel(eg->getEndEffectorParentGroup().second);
            if (attached_link_model)
            {
              std::vector<const robot_state::AttachedBody*> attached_bodies2;
              planning_scene->getCurrentState().getAttachedBodies(attached_bodies2, attached_link_model);
              attached_bodies.insert(attached_bodies.end(), attached_bodies2.begin(), attached_bodies2.end());
            }
          }
          
          // if this end effector has attached objects, we go on
          if (!attached_bodies.empty())
          {
            // if the user specified the name of the attached object to place, we check that indeed
            // the group contains this attachd body
            if (!attached_object_name.empty())
            {
              bool found = false;
              for (std::size_t j = 0 ; j < attached_bodies.size() ; ++j)
                if (attached_bodies[j]->getName() == attached_object_name)
                {
                  found = true;
                  break;
                }
              // if the attached body this group has is not the same as the one specified,
              // we cannot use this eef
              if (!found)
                continue;
            }
            
            // if we previoulsy have set the eef it means we have more options we could use, so things are ambiguous
            if (eef)
            {
              ROS_ERROR_STREAM_NAMED("manipulation", "There are multiple end-effectors for group '" << goal.group_name <<
                                     "' that are currently holding objects. It is ambiguous which end-effector to use. Please specify it explicitly.");
              error_code_.val = moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME;
              return false;
            }
            // set the end effector (this was initialized to NULL above)
            eef = planning_scene->getRobotModel()->getEndEffector(eef_names[i]);
          }
        }
    }
  }
  
  // if we know the attached object, but not the eef, we can try to identify that
  if (!attached_object_name.empty() && !eef)
  {
    const robot_state::AttachedBody *attached_body = planning_scene->getCurrentState().getAttachedBody(attached_object_name);
//.........这里部分代码省略.........

void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints& constr,
                                                const planning_scene::PlanningSceneConstPtr& scene,
                                                const std::string& group, const std::string& link_name,
                                                unsigned int sample_count, visualization_msgs::MarkerArray& markers)
{
  visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(),
                        link_name, sample_count, markers);
}

bool ConvexConstraintSolver::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::GetMotionPlan::Request &req,
                   moveit_msgs::GetMotionPlan::Response &res) const
{
  // Need to add in joint limit constraints
  // Get the position constraints from the collision detector

  // The raw algorithm laid out in Chan et. al. is as follows:
  //  1. Compute unconstrained motion to go from proxy to goal.
  //  2. Get the current contact set by moving the proxy toward the goal by some epsilon and get all collision points.
  //  3. Compute constrained motion (convex solver).
  //  4. Compute collisions along the constrained motion path.
  //  5. Set proxy to stop at the first new contact along path.


  // In our framework this will look more like this:
  // Outside ths planner:
  //  1. Compute error between cartesian end effector and cartesian goal.
  //  2. Cap pose error (based on some heuristic?) because we are about to make a linear approximation.
  //  3. Use Jinverse to compute the joint deltas for the pose error (or perhaps we should frame this as a velocity problem).
  //  4. Add the joint deltas to the start state to get a goal state.

  // Inside the planner:
  //  1. Get the "current" contact set by moving the proxy toward the goal by some epsilon and get all collision points.
  //  2. Compute constrained motion (convex solver).
  //  3. Subdivide motion subject to some sort of minimum feature size.
  //  4. Move proxy in steps, checking for colliding state along the way. Optionally use interval bisection to refine.

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -/

  std::string group_name = req.motion_plan_request.group_name;
  std::string ee_group_name;
  std::string ee_control_frame;
  if(group_name == "right_arm"){ ee_group_name = "r_end_effector"; ee_control_frame = "r_wrist_roll_link"; }
  if(group_name == "left_arm") { ee_group_name = "l_end_effector"; ee_control_frame = "l_wrist_roll_link"; }


  ROS_WARN("Solving for group [%s], end-effector [%s], control frame [%s] using ConvexConstraintSolver!", group_name.c_str(), ee_group_name.c_str(), ee_control_frame.c_str());



  // We "getCurrentState" just to populate the structure with auxiliary info, then copy in the transform info from the planning request.
  planning_models::KinematicState start_state = planning_scene->getCurrentState();
  planning_models::robotStateToKinematicState(*(planning_scene->getTransforms()), req.motion_plan_request.start_state, start_state);

  // constrained_goal_state is the optimization output before interval stepping, proxy_state will be used as we step around.
  planning_models::KinematicState proxy_state = start_state;
  planning_models::KinematicState constrained_goal_state = start_state;

  std::string planning_frame = ros::names::resolve("/", planning_scene->getPlanningFrame());


    const planning_models::KinematicState::JointStateGroup * jsg = proxy_state.getJointStateGroup(group_name);
    const planning_models::KinematicModel::JointModelGroup * jmg = planning_scene->getKinematicModel()->getJointModelGroup(group_name);
//    std::string end_effector_group_name = jmg->getAttachedEndEffectorGroupName();
//    const std::vector<std::string>& subgroups = jmg->getSubgroupNames();

//    ROS_INFO("End-effector group name is [%s].", end_effector_group_name.c_str());
//    for(size_t i = 0; i< subgroups.size(); i++)
//      ROS_INFO("Subgroup [%zd] is [%s].", i, subgroups[i].c_str());
    const planning_models::KinematicModel::JointModelGroup * ee_jmg = planning_scene->getKinematicModel()->getJointModelGroup(ee_group_name);


//    const std::vector<const planning_models::KinematicModel::JointModel*>& joint_models = jmg->getJointModels();
//    std::map<std::string, unsigned int> joint_index_map;
//    for(size_t i = 0; i < joint_models.size(); i++)
//    {
//      //ROS_INFO("Group [%s] has joint %d: [%s]", req.motion_plan_request.group_name.c_str(), i, joint_models[i]->getName().c_str());
//      joint_index_map[joint_models[i]->getName()] = i;
//    }

    const std::map<std::string, unsigned int>& joint_index_map = jmg->getJointVariablesIndexMap();

    std::vector<double> limits_min, limits_max, joint_vector;
    std::vector<std::string> joint_names;

    limits_min.resize(7);
    limits_max.resize(7);
    joint_vector.resize(7);
    joint_names.resize(7);


    {
      const moveit_msgs::Constraints &c = req.motion_plan_request.goal_constraints[1];
      for (std::size_t i = 0 ; i < c.joint_constraints.size() ; ++i)
      {
        std::string joint_name = c.joint_constraints[i].joint_name;
        if(joint_index_map.find(joint_name) == joint_index_map.end())
        {
          ROS_WARN("Didin't find [%s] in the joint map, ignoring...", joint_name.c_str());
          continue;
        }
        unsigned int joint_index = joint_index_map.find(joint_name)->second;

        std::vector<moveit_msgs::JointLimits> limits = planning_scene->getKinematicModel()->getJointModel(joint_name)->getLimits();
        moveit_msgs::JointLimits limit = limits[0];
        if(limit.has_position_limits)
        {
          limits_min[joint_index] = limit.min_position;
          limits_max[joint_index] = limit.max_position;
//.........这里部分代码省略.........

  virtual bool adaptAndPlan(const PlannerFn &planner,
                            const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest &req, 
                            planning_interface::MotionPlanResponse &res,
                            std::vector<std::size_t> &added_path_index) const
  {
    ROS_DEBUG("Running '%s'", getDescription().c_str());
    
    // get the specified start state
    robot_state::RobotState start_state = planning_scene->getCurrentState();
    robot_state::robotStateMsgToRobotState(*planning_scene->getTransforms(), req.start_state, start_state);

    const std::vector<robot_state::JointState*> &jstates = 
      planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ? 
      start_state.getJointStateGroup(req.group_name)->getJointStateVector() : 
      start_state.getJointStateVector(); 
    
    bool change_req = false;
    for (std::size_t i = 0 ; i < jstates.size() ; ++i)
    { 
      // Check if we have a revolute, continuous joint. If we do, then we only need to make sure
      // it is within de model's declared bounds (usually -Pi, Pi), since the values wrap around. 
      // It is possible that the encoder maintains values outside the range [-Pi, Pi], to inform
      // how many times the joint was wrapped. Because of this, we remember the offsets for continuous
      // joints, and we un-do them when the plan comes from the planner
      
      const robot_model::JointModel* jm = jstates[i]->getJointModel();
      if (jm->getType() == robot_model::JointModel::REVOLUTE)
      {
        if (static_cast<const robot_model::RevoluteJointModel*>(jm)->isContinuous())
        {
          double initial = jstates[i]->getVariableValues()[0];
          jstates[i]->enforceBounds();
          double after = jstates[i]->getVariableValues()[0];
          if (fabs(initial - after) > std::numeric_limits<double>::epsilon())
            change_req = true;
        } 
      }
      else
        // Normalize yaw; no offset needs to be remembered
        if (jm->getType() == robot_model::JointModel::PLANAR)
        {   
          double initial = jstates[i]->getVariableValues()[2];
          if (static_cast<const robot_model::PlanarJointModel*>(jm)->normalizeRotation(jstates[i]->getVariableValues()))
            change_req = true;
        }
        else
          // Normalize quaternions
          if (jm->getType() == robot_model::JointModel::FLOATING)
          {
            if (static_cast<const robot_model::FloatingJointModel*>(jm)->normalizeRotation(jstates[i]->getVariableValues()))
              change_req = true;
          }
    }
    
    // pointer to a prefix state we could possibly add, if we detect we have to make changes
    robot_state::RobotStatePtr prefix_state;
    for (std::size_t i = 0 ; i < jstates.size() ; ++i)
    {   
      if (!jstates[i]->satisfiesBounds())
      {    
        if (jstates[i]->satisfiesBounds(bounds_dist_))
        {
          if (!prefix_state)
            prefix_state.reset(new robot_state::RobotState(start_state));
          jstates[i]->enforceBounds();
          change_req = true;
          ROS_INFO("Starting state is just outside bounds (joint '%s'). Assuming within bounds.", jstates[i]->getName().c_str());
        }
        else
        {
          std::stringstream joint_values;
          std::stringstream joint_bounds_low;
          std::stringstream joint_bounds_hi;
          for (std::size_t k = 0 ; k < jstates[i]->getVariableValues().size() ; ++k)
            joint_values << jstates[i]->getVariableValues()[k] << " ";
          for (std::size_t k = 0 ; k < jstates[i]->getVariableBounds().size() ; ++k)
          {
            joint_bounds_low << jstates[i]->getVariableBounds()[k].first << " ";
            joint_bounds_hi << jstates[i]->getVariableBounds()[k].second << " ";
          }
          ROS_WARN_STREAM("Joint '" << jstates[i]->getName() << "' from the starting state is outside bounds by a significant margin: [ " << joint_values.str() << "] should be in the range [ " << joint_bounds_low.str() <<
                          "], [ " << joint_bounds_hi.str() << "] but the error above the ~" << BOUNDS_PARAM_NAME << " parameter (currently set to " << bounds_dist_ << ")");
        }
      }
    }

    bool solved;
    // if we made any changes, use them
    if (change_req)
    {
      planning_interface::MotionPlanRequest req2 = req;
      robot_state::robotStateToRobotStateMsg(start_state, req2.start_state);
      solved = planner(planning_scene, req2, res);
    }
    else
      solved = planner(planning_scene, req, res);

    // re-add the prefix state, if it was constructed
    if (prefix_state && res.trajectory_)
//.........这里部分代码省略.........

  virtual bool adaptAndPlan(const PlannerFn &planner,
                            const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest &req,
                            planning_interface::MotionPlanResponse &res,
                            std::vector<std::size_t> &added_path_index) const
  {
    ROS_DEBUG("Running '%s'", getDescription().c_str());

    // get the specified start state
    robot_state::RobotState start_state = planning_scene->getCurrentState();
    robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);

    // if the start state is otherwise valid but does not meet path constraints
    if (planning_scene->isStateValid(start_state, req.group_name) &&
        !planning_scene->isStateValid(start_state, req.path_constraints, req.group_name))
    {
      ROS_INFO("Path constraints not satisfied for start state...");
      planning_scene->isStateValid(start_state, req.path_constraints, req.group_name, true);
      ROS_INFO("Planning to path constraints...");

      planning_interface::MotionPlanRequest req2 = req;
      req2.goal_constraints.resize(1);
      req2.goal_constraints[0] = req.path_constraints;
      req2.path_constraints = moveit_msgs::Constraints();
      planning_interface::MotionPlanResponse res2;
      // we call the planner for this additional request, but we do not want to include potential 
      // index information from that call
      std::vector<std::size_t> added_path_index_temp;
      added_path_index_temp.swap(added_path_index);
      bool solved1 = planner(planning_scene, req2, res2);
      added_path_index_temp.swap(added_path_index);
      
      if (solved1)
      {
        planning_interface::MotionPlanRequest req3 = req;
        ROS_INFO("Planned to path constraints. Resuming original planning request.");

        // extract the last state of the computed motion plan and set it as the new start state
        robot_state::robotStateToRobotStateMsg(res2.trajectory_->getLastWayPoint(), req3.start_state);
        bool solved2 = planner(planning_scene, req3, res);
        res.planning_time_ += res2.planning_time_;

        if (solved2)
        {
          // since we add a prefix, we need to correct any existing index positions
          for (std::size_t i = 0 ; i < added_path_index.size() ; ++i)
            added_path_index[i] += res2.trajectory_->getWayPointCount();
          
          // we mark the fact we insert a prefix path (we specify the index position we just added)
          for (std::size_t i = 0 ; i < res2.trajectory_->getWayPointCount() ; ++i)
            added_path_index.push_back(i);
          
          // we need to append the solution paths.
          res2.trajectory_->append(*res.trajectory_, 0.0);
          res2.trajectory_->swap(*res.trajectory_);
          return true;
        }
        else
          return false;
      }
      else
      {
        ROS_WARN("Unable to plan to path constraints. Running usual motion plan.");
        bool result = planner(planning_scene, req, res);
        res.planning_time_ += res2.planning_time_;
        return result;
      }
    }
    else
    {
      ROS_DEBUG("Path constraints are OK. Running usual motion plan.");
      return planner(planning_scene, req, res);
    }
  }

bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                         const moveit_msgs::MotionPlanRequest& req, const chomp::ChompParameters& params,
                         moveit_msgs::MotionPlanDetailedResponse& res) const
{
  if (!planning_scene)
  {
    ROS_ERROR_STREAM_NAMED("chomp_planner", "No planning scene initialized.");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
    return false;
  }

  if (req.start_state.joint_state.position.empty())
  {
    ROS_ERROR_STREAM_NAMED("chomp_planner", "Start state is empty");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
    return false;
  }

  if (not planning_scene->getRobotModel()->satisfiesPositionBounds(req.start_state.joint_state.position.data()))
  {
    ROS_ERROR_STREAM_NAMED("chomp_planner", "Start state violates joint limits");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
    return false;
  }

  ros::WallTime start_time = ros::WallTime::now();
  ChompTrajectory trajectory(planning_scene->getRobotModel(), 3.0, .03, req.group_name);

  jointStateToArray(planning_scene->getRobotModel(), req.start_state.joint_state, req.group_name,
                    trajectory.getTrajectoryPoint(0));

  if (req.goal_constraints.empty())
  {
    ROS_ERROR_STREAM_NAMED("chomp_planner", "No goal constraints specified!");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
    return false;
  }

  if (req.goal_constraints[0].joint_constraints.empty())
  {
    ROS_ERROR_STREAM("Only joint-space goals are supported");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS;
    return false;
  }

  int goal_index = trajectory.getNumPoints() - 1;
  trajectory.getTrajectoryPoint(goal_index) = trajectory.getTrajectoryPoint(0);
  sensor_msgs::JointState js;
  for (const moveit_msgs::JointConstraint& joint_constraint : req.goal_constraints[0].joint_constraints)
  {
    js.name.push_back(joint_constraint.joint_name);
    js.position.push_back(joint_constraint.position);
    ROS_INFO_STREAM_NAMED("chomp_planner", "Setting joint " << joint_constraint.joint_name << " to position "
                                                            << joint_constraint.position);
  }
  jointStateToArray(planning_scene->getRobotModel(), js, req.group_name, trajectory.getTrajectoryPoint(goal_index));

  const moveit::core::JointModelGroup* model_group =
      planning_scene->getRobotModel()->getJointModelGroup(req.group_name);
  // fix the goal to move the shortest angular distance for wrap-around joints:
  for (size_t i = 0; i < model_group->getActiveJointModels().size(); i++)
  {
    const moveit::core::JointModel* model = model_group->getActiveJointModels()[i];
    const moveit::core::RevoluteJointModel* revolute_joint =
        dynamic_cast<const moveit::core::RevoluteJointModel*>(model);

    if (revolute_joint != nullptr)
    {
      if (revolute_joint->isContinuous())
      {
        double start = (trajectory)(0, i);
        double end = (trajectory)(goal_index, i);
        ROS_INFO_STREAM("Start is " << start << " end " << end << " short " << shortestAngularDistance(start, end));
        (trajectory)(goal_index, i) = start + shortestAngularDistance(start, end);
      }
    }
  }

  const std::vector<std::string>& active_joint_names = model_group->getActiveJointModelNames();
  const Eigen::MatrixXd goal_state = trajectory.getTrajectoryPoint(goal_index);
  moveit::core::RobotState goal_robot_state = planning_scene->getCurrentState();
  goal_robot_state.setVariablePositions(
      active_joint_names, std::vector<double>(goal_state.data(), goal_state.data() + active_joint_names.size()));

  if (not goal_robot_state.satisfiesBounds())
  {
    ROS_ERROR_STREAM_NAMED("chomp_planner", "Goal state violates joint limits");
    res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE;
    return false;
  }

  // fill in an initial trajectory based on user choice from the chomp_config.yaml file
  if (params.trajectory_initialization_method_.compare("quintic-spline") == 0)
    trajectory.fillInMinJerk();
  else if (params.trajectory_initialization_method_.compare("linear") == 0)
    trajectory.fillInLinearInterpolation();
  else if (params.trajectory_initialization_method_.compare("cubic") == 0)
    trajectory.fillInCubicInterpolation();
  else if (params.trajectory_initialization_method_.compare("fillTrajectory") == 0)
  {
//.........这里部分代码省略.........

    virtual bool adaptAndPlan(const PlannerFn &planner,
                              const planning_scene::PlanningSceneConstPtr& planning_scene,
                              const planning_interface::MotionPlanRequest &req,
                              planning_interface::MotionPlanResponse &res,
                              std::vector<std::size_t> &added_path_index) const
    {
        ROS_DEBUG("Running '%s'", getDescription().c_str());

        // get the specified start state
        robot_state::RobotState start_state = planning_scene->getCurrentState();
        robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);

        collision_detection::CollisionRequest creq;
        creq.group_name = req.group_name;
        collision_detection::CollisionResult cres;
        planning_scene->checkCollision(creq, cres, start_state);
        if (cres.collision)
        {
            // Rerun in verbose mode
            collision_detection::CollisionRequest vcreq = creq;
            collision_detection::CollisionResult vcres;
            vcreq.verbose = true;
            planning_scene->checkCollision(vcreq, vcres, start_state);

            if (creq.group_name.empty())
                ROS_INFO("Start state appears to be in collision");
            else
                ROS_INFO_STREAM("Start state appears to be in collision with respect to group " << creq.group_name);

            robot_state::RobotStatePtr prefix_state(new robot_state::RobotState(start_state));
            random_numbers::RandomNumberGenerator &rng = prefix_state->getRandomNumberGenerator();

            const std::vector<const robot_model::JointModel*> &jmodels =
                planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ?
                planning_scene->getRobotModel()->getJointModelGroup(req.group_name)->getJointModels() :
                planning_scene->getRobotModel()->getJointModels();

            bool found = false;
            for (int c = 0 ; !found && c < sampling_attempts_ ; ++c)
            {
                for (std::size_t i = 0 ; !found && i < jmodels.size() ; ++i)
                {
                    std::vector<double> sampled_variable_values(jmodels[i]->getVariableCount());
                    const double *original_values = prefix_state->getJointPositions(jmodels[i]);
                    jmodels[i]->getVariableRandomPositionsNearBy(rng, &sampled_variable_values[0], original_values, jmodels[i]->getMaximumExtent() * jiggle_fraction_);
                    start_state.setJointPositions(jmodels[i], sampled_variable_values);
                    collision_detection::CollisionResult cres;
                    planning_scene->checkCollision(creq, cres, start_state);
                    if (!cres.collision)
                    {
                        found = true;
                        ROS_INFO("Found a valid state near the start state at distance %lf after %d attempts", prefix_state->distance(start_state), c);
                    }
                }
            }

            if (found)
            {
                planning_interface::MotionPlanRequest req2 = req;
                robot_state::robotStateToRobotStateMsg(start_state, req2.start_state);
                bool solved = planner(planning_scene, req2, res);
                if (solved && !res.trajectory_->empty())
                {
                    // heuristically decide a duration offset for the trajectory (induced by the additional point added as a prefix to the computed trajectory)
                    res.trajectory_->setWayPointDurationFromPrevious(0, std::min(max_dt_offset_, res.trajectory_->getAverageSegmentDuration()));
                    res.trajectory_->addPrefixWayPoint(prefix_state, 0.0);
                    // we add a prefix point, so we need to bump any previously added index positions
                    for (std::size_t i = 0 ; i < added_path_index.size() ; ++i)
                        added_path_index[i]++;
                    added_path_index.push_back(0);
                }
                return solved;
            }
            else
            {
                ROS_WARN("Unable to find a valid state nearby the start state (using jiggle fraction of %lf and %u sampling attempts). Passing the original planning request to the planner.",
                         jiggle_fraction_, sampling_attempts_);
                return planner(planning_scene, req, res);
            }
        }
        else
        {
            if (creq.group_name.empty())
                ROS_DEBUG("Start state is valid");
            else
                ROS_DEBUG_STREAM("Start state is valid with respect to group " << creq.group_name);
            return planner(planning_scene, req, res);
        }
    }

bool SBPLInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                          const moveit_msgs::GetMotionPlan::Request &req,
                          moveit_msgs::GetMotionPlan::Response &res,
                          const PlanningParameters& params) const
{
    res.trajectory.joint_trajectory.points.clear();
    (const_cast<SBPLInterface*>(this))->last_planning_statistics_ = PlanningStatistics();
    planning_models::RobotState *start_state(planning_scene->getCurrentState());
    planning_models::robotStateMsgToRobotState(*planning_scene->getTransforms(), req.motion_plan_request.start_state, start_state);

    ros::WallTime wt = ros::WallTime::now();
    boost::shared_ptr<EnvironmentChain3D> env_chain(new EnvironmentChain3D(planning_scene));
    if(!env_chain->setupForMotionPlan(planning_scene,
                                      req,
                                      res,
                                      params)) {
        //std::cerr << "Env chain setup failing" << std::endl;
        return false;
    }
    //std::cerr << "Creation with params " << params.use_bfs_ << " took " << (ros::WallTime::now()-wt).toSec() << std::endl;
    boost::this_thread::interruption_point();

    //DummyEnvironment* dummy_env = new DummyEnvironment();
    boost::shared_ptr<ARAPlanner> planner(new ARAPlanner(env_chain.get(), true));
    planner->set_initialsolution_eps(100.0);
    planner->set_search_mode(true);
    planner->force_planning_from_scratch();
    planner->set_start(env_chain->getPlanningData().start_hash_entry_->stateID);
    planner->set_goal(env_chain->getPlanningData().goal_hash_entry_->stateID);
    //std::cerr << "Creation took " << (ros::WallTime::now()-wt) << std::endl;
    std::vector<int> solution_state_ids;
    int solution_cost;
    wt = ros::WallTime::now();
    //CALLGRIND_START_INSTRUMENTATION;
    bool b_ret = planner->replan(10.0, &solution_state_ids, &solution_cost);
    //CALLGRIND_STOP_INSTRUMENTATION;
    double el = (ros::WallTime::now()-wt).toSec();
    std::cerr << "B ret is " << b_ret << " planning time " << el << std::endl;
    std::cerr << "Expansions " << env_chain->getPlanningStatistics().total_expansions_
              << " average time " << (env_chain->getPlanningStatistics().total_expansion_time_.toSec()/(env_chain->getPlanningStatistics().total_expansions_*1.0))
              << " hz " << 1.0/(env_chain->getPlanningStatistics().total_expansion_time_.toSec()/(env_chain->getPlanningStatistics().total_expansions_*1.0))
              << std::endl;
    std::cerr << "Total coll checks " << env_chain->getPlanningStatistics().coll_checks_ << " hz " << 1.0/(env_chain->getPlanningStatistics().total_coll_check_time_.toSec()/(env_chain->getPlanningStatistics().coll_checks_*1.0)) << std::endl;
    std::cerr << "Path length is " << solution_state_ids.size() << std::endl;
    if(!b_ret) {
        res.error_code.val = moveit_msgs::MoveItErrorCodes::PLANNING_FAILED;
        return false;
    }
    if(solution_state_ids.size() == 0) {
        std::cerr << "Success but no path" << std::endl;
        res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
        return false;
    }
    if(!env_chain->populateTrajectoryFromStateIDSequence(solution_state_ids,
            res.trajectory.joint_trajectory)) {
        std::cerr << "Success but path bad" << std::endl;
        res.error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
        return false;
    }
    ros::WallTime pre_short = ros::WallTime::now();
    //std::cerr << "Num traj points before " << res.trajectory.joint_trajectory.points.size() << std::endl;
    trajectory_msgs::JointTrajectory traj = res.trajectory.joint_trajectory;
    env_chain->attemptShortcut(traj, res.trajectory.joint_trajectory);
    //std::cerr << "Num traj points after " << res.trajectory.joint_trajectory.points.size() << std::endl;
    //std::cerr << "Time " << (ros::WallTime::now()-pre_short).toSec() << std::endl;
    //env_chain->getPlaneBFSMarker(mark, env_chain->getGoalPose().translation().z());
    res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
    PlanningStatistics stats = env_chain->getPlanningStatistics();
    stats.total_planning_time_ = ros::WallDuration(el);
    (const_cast<SBPLInterface*>(this))->last_planning_statistics_ = stats;
    return true;
}